Torque, thrust scale

Hi all,

I’m implementing a controller for iris drone model in gazebo simulation. It takes position and velocity setpoints and generates torque and thrust setpoint.

But I couldn’t find how to scale the thrust and torque command from my controller.

Can you give me some idea how to do it?

Thank you!

What do you mean by scale it? From what I understand the thrust command is a normalized value of the thrust which will result in a certain PWM for the motors depending on their max and minimum PWM signals.

Thanks for your response.

I calculated the thrust and torque command that is not normalized.
So, I have to normalize using some value which I called as “scale”.

Can I normalize it by simply dividing the thrust and torque command by its maximum value?
Or use other methods?

Yes simply dividing it by the maximum value will normalize it.

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